Struct opencv::sfm::SFMLibmvEuclideanReconstruction

pub struct SFMLibmvEuclideanReconstruction { /* fields omitted */ }

SFMLibmvEuclideanReconstruction class provides an interface with the Libmv Structure From Motion pipeline.

Methods

impl SFMLibmvEuclideanReconstruction

pub fn as_raw_SFMLibmvEuclideanReconstruction(&self) -> *mut c_void

pub unsafe fn from_raw_ptr(ptr: *mut c_void) -> Self

impl SFMLibmvEuclideanReconstruction

pub fn run(&mut self, points2d: &dyn ToInputArray) -> Result<()>

Calls the pipeline in order to perform Eclidean reconstruction.

Parameters

• points2d: Input vector of vectors of 2d points (the inner vector is per image).

Note:

• Tracks must be as precise as possible. It does not handle outliers and is very sensible to them.

pub fn run_1(
    &mut self,
    points2d: &dyn ToInputArray,
    k: &mut dyn ToInputOutputArray,
    rs: &mut dyn ToOutputArray,
    ts: &mut dyn ToOutputArray,
    points3d: &mut dyn ToOutputArray
) -> Result<()>

Calls the pipeline in order to perform Eclidean reconstruction.

Parameters

• points2d: Input vector of vectors of 2d points (the inner vector is per image).
• K: Input/Output camera matrix . Input parameters used as initial guess.
• Rs: Output vector of 3x3 rotations of the camera.
• Ts: Output vector of 3x1 translations of the camera.
• points3d: Output array with estimated 3d points.

Note:

• Tracks must be as precise as possible. It does not handle outliers and is very sensible to them.

pub fn run_2(&mut self, images: &VectorOfString) -> Result<()>

Calls the pipeline in order to perform Eclidean reconstruction.

Parameters

• images: a vector of string with the images paths.

Note:

• The images must be ordered as they were an image sequence. Additionally, each frame should be as close as posible to the previous and posterior.
• For now DAISY features are used in order to compute the 2d points tracks and it only works for 3-4 images.

pub fn run_3(
    &mut self,
    images: &VectorOfString,
    k: &mut dyn ToInputOutputArray,
    rs: &mut dyn ToOutputArray,
    ts: &mut dyn ToOutputArray,
    points3d: &mut dyn ToOutputArray
) -> Result<()>

Calls the pipeline in order to perform Eclidean reconstruction.

Parameters

• images: a vector of string with the images paths.
• K: Input/Output camera matrix . Input parameters used as initial guess.
• Rs: Output vector of 3x3 rotations of the camera.
• Ts: Output vector of 3x1 translations of the camera.
• points3d: Output array with estimated 3d points.

Note:

• The images must be ordered as they were an image sequence. Additionally, each frame should be as close as posible to the previous and posterior.
• For now DAISY features are used in order to compute the 2d points tracks and it only works for 3-4 images.

pub fn get_error(&self) -> Result<f64>

Returns the computed reprojection error.

pub fn get_points(&mut self, points3d: &mut dyn ToOutputArray) -> Result<()>

Returns the estimated 3d points.

Parameters

• points3d: Output array with estimated 3d points.

pub fn get_intrinsics(&self) -> Result<Mat>

Returns the refined camera calibration matrix.

pub fn get_cameras(
    &mut self,
    rs: &mut dyn ToOutputArray,
    ts: &mut dyn ToOutputArray
) -> Result<()>

Returns the estimated camera extrinsic parameters.

Parameters

• Rs: Output vector of 3x3 rotations of the camera.
• Ts: Output vector of 3x1 translations of the camera.

pub fn set_reconstruction_options(
    &mut self,
    libmv_reconstruction_options: libmv_ReconstructionOptions
) -> Result<()>

Setter method for reconstruction options.

Parameters

• libmv_reconstruction_options: struct with reconstruction options such as initial keyframes, automatic keyframe selection, parameters to refine and the verbosity level.

pub fn set_camera_intrinsic_options(
    &mut self,
    libmv_camera_intrinsics_options: libmv_CameraIntrinsicsOptions
) -> Result<()>

Setter method for camera intrinsic options.

Parameters

• libmv_camera_intrinsics_options: struct with camera intrinsic options such as camera model and the internal camera parameters.

pub fn create(
    camera_instrinsic_options: libmv_CameraIntrinsicsOptions,
    reconstruction_options: libmv_ReconstructionOptions
) -> Result<PtrOfSFMLibmvEuclideanReconstruction>

Creates an instance of the SFMLibmvEuclideanReconstruction class. Initializes Libmv.

C++ default parameters

• camera_instrinsic_options: libmv_CameraIntrinsicsOptions()
• reconstruction_options: libmv_ReconstructionOptions()

Trait Implementations

impl BaseSFM for SFMLibmvEuclideanReconstruction

fn as_raw_BaseSFM(&self) -> *mut c_void

fn run(&mut self, points2d: &dyn ToInputArray) -> Result<()>

fn run_1(
    &mut self,
    points2d: &dyn ToInputArray,
    k: &mut dyn ToInputOutputArray,
    rs: &mut dyn ToOutputArray,
    ts: &mut dyn ToOutputArray,
    points3d: &mut dyn ToOutputArray
) -> Result<()>

fn run_2(&mut self, images: &VectorOfString) -> Result<()>

fn run_3(
    &mut self,
    images: &VectorOfString,
    k: &mut dyn ToInputOutputArray,
    rs: &mut dyn ToOutputArray,
    ts: &mut dyn ToOutputArray,
    points3d: &mut dyn ToOutputArray
) -> Result<()>

fn get_error(&self) -> Result<f64>

fn get_points(&mut self, points3d: &mut dyn ToOutputArray) -> Result<()>

fn get_intrinsics(&self) -> Result<Mat>

fn get_cameras(
    &mut self,
    rs: &mut dyn ToOutputArray,
    ts: &mut dyn ToOutputArray
) -> Result<()>

fn set_reconstruction_options(
    &mut self,
    libmv_reconstruction_options: libmv_ReconstructionOptions
) -> Result<()>

fn set_camera_intrinsic_options(
    &mut self,
    libmv_camera_intrinsics_options: libmv_CameraIntrinsicsOptions
) -> Result<()>

impl Drop for SFMLibmvEuclideanReconstruction

fn drop(&mut self)

Executes the destructor for this type.

impl Send for SFMLibmvEuclideanReconstruction